CN108115693A - A kind of robot hides system and method - Google Patents
A kind of robot hides system and method Download PDFInfo
- Publication number
- CN108115693A CN108115693A CN201810123668.3A CN201810123668A CN108115693A CN 108115693 A CN108115693 A CN 108115693A CN 201810123668 A CN201810123668 A CN 201810123668A CN 108115693 A CN108115693 A CN 108115693A
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- robot
- accommodating chamber
- dodge gate
- condition
- controller
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of robots to hide system and method.By the way that a kind of robot including accommodating chamber and dodge gate is set to hide system, make robot after needs charge or complete task, it can automatically return in the concealed space surrounded jointly with the inner wall for forming accommodating chamber by dodge gate, criminal is avoided to steal or destroy robot.By setting a kind of robot hidden method, allow robot according to the method, when itself working condition meets the condition for returning to accommodating chamber, find the position of the accommodating chamber, and automatically return in the concealed space surrounded jointly with the inner wall for forming accommodating chamber by dodge gate, criminal is avoided to steal or destroy robot.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of robot hides system and method.
Background technology
The existing public service robot for being capable of autonomous, can be when electricity will exhaust, and Automatic-searching charges
Seat charge or after the completion of task return charge position carry out charge and it is standby.So in these public places
Corresponding robot cradle and charge position are needed to configure, thus needs to occupy the certain use space in public place.This
Outside, it is in outer aobvious state, i.e., in exposure in public places, so easily by one since robot is when charging or being standby
A little criminals steal or destroy.After robot completes task, it is also necessary to which special staff is to these machines
People is recycled and is disposed, so as to add the manpower management cost of robot.
The content of the invention
The present invention provides a kind of robots to hide system and method, needs the task that charges or complete in robot
The place for automatically returning to a safety afterwards is hidden, and criminal is avoided to steal or destroy robot.The present invention's is specific
Technical solution is as follows：
A kind of robot hides system, including：For housing the accommodating chamber of the robot；For blocking opening for the accommodating chamber
Mouthful, the accommodating chamber is made to become to house the dodge gate of the concealed space of the robot；For being carried out with the robot
The communicator of communication；It is connected with the communicator, the robot for being received according to the communicator is sent
Signal, control the controllers of the opening and closing of dodge gate.
Further, the charging part being connected with the controller is equipped in the accommodating chamber, it can by the controller
The charging part is controlled to charge the robot into the accommodating chamber.
Further, the sensor for being used to send guiding signal being connected with the controller is equipped in the accommodating chamber,
It is described guiding signal can guided robot enter the accommodating chamber.
Further, the system also includes alarm devices.The alarm device is connected with the controller, for detecting
The state of the dodge gate, and when the state of the dodge gate meets alert consitions, sound the alarm.
Further, the alarm device further includes alarm portion.The alarm portion is connected with the controller, in institute
When stating the state of dodge gate and meeting alert if, to default contact number alert.
Further, the accommodating chamber is arranged in wall or in the pedestal of seat lower part.The dodge gate, which is in, to close
During closed state, with the wall or the flush with outer surface of pedestal.
Further, the system also includes human-computer interaction devices.The human-computer interaction device is connected with the controller,
For receiving externally input information and being transferred to the controller, the dodge gate or described is controlled by the controller
Robot.The human-computer interaction device is additionally operable to show the state of the dodge gate or robot.
A kind of robot hidden method, includes the following steps：Step S1：Determine the working condition of robot；Step S2：Base
In the working condition, judge whether robot meets the condition for returning to accommodating chamber, if it is, S3 is entered step, if not,
Then return to step S1；Step S3：It determines the position of the accommodating chamber, and walks to the accommodating chamber, away from the accommodating chamber
When distance is less than pre-determined distance, the control signal that control dodge gate is opened is sent；Step S4：Into the accommodating chamber, and send
The control signal that the dodge gate is controlled to close.
Further, described in step S2 based on the working condition, judge whether robot meets and return to accommodating chamber
Condition includes the following steps：Judge whether the remaining capacity of robot reaches default charge value；If it is, determine robot
Meet the condition for returning to accommodating chamber；If it is not, then judging whether robot completes default task；If it is, the machine of determining
Device people meets the condition for returning to accommodating chamber；If it is not, then judging whether current time meets the time of default return accommodating chamber；
If it is, determine that robot meets the condition for returning to accommodating chamber；If it is not, then determine that robot is unsatisfactory for returning to accommodating chamber
Condition.
Further, after the control signal for sending control dodge gate and opening described in the step S3, in the step
Before rapid S4, following steps are further included：Step S31：Receive guiding signal；Step S32：According to the guiding signal adjustment walking
State makes the charging end on machine human organism align with the charging electrode contact jaw of the charging part in the accommodating chamber.
Further, after the step S4, following steps are further included：Step S5：Determine the current state of robot；
Step S6：Based on the current state, judge whether robot meets the condition for leaving accommodating chamber, if it is, entering step
S7, if it is not, then return to step S5；Step S7：The control signal that control dodge gate is opened is sent, and leaves the accommodating chamber.
Further, described in step S6 based on the current state, judge whether robot meets and leave accommodating chamber
Condition includes the following steps：Judge whether robot receives the control signal of start-up operation；If it is, determine robot
Meet the condition for leaving accommodating chamber；If it is not, then judging whether robot meets the condition to work on；If it is, it determines
Robot meets the condition for leaving accommodating chamber；If it is not, then determine that robot is unsatisfactory for leaving the condition of accommodating chamber.
Above-mentioned technical proposal advantageous effect includes：
1st, by the way that a kind of robot including accommodating chamber and dodge gate is set to hide system, robot is made in needs charging or complete
Into after task, it can automatically return in the concealed space surrounded jointly with the inner wall for forming accommodating chamber by dodge gate, avoid
Criminal steals or destroys robot.
2nd, by setting a kind of robot hidden method, robot is allow according to the method, in itself working condition
When meeting the condition for returning to accommodating chamber, the position of the accommodating chamber is found, and automatically returns to by dodge gate and forms accommodating chamber
In the concealed space that inner wall surrounds jointly, criminal is avoided to steal or destroy robot.
Description of the drawings
Fig. 1 is a kind of schematic diagram for embodiment that robot of the present invention hides system.
Fig. 2 is a kind of flow chart of embodiment of robot hidden method of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is retouched in detail
It states.It should be appreciated that specific embodiment disclosed below is only used for explaining the present invention, it is not intended to limit the present invention.
Robot of the present invention can be a kind of Intelligent mobile equipment of commercialization, for example, the sweeping robot in market or
Person hall service robot etc..These robots can rely on certain artificial intelligence, walk automatically in some occasions automatically.
The body of robot is equipped with various sensors, can detect travel distance, walking angle, fuselage state and barrier etc., such as touches
To wall or other barriers, can voluntarily turn, and according to different settings, and different routes is walked, it walks with having planning, can also
Grating map is built according to the various data detected in walking process.Robot of the present invention includes such as lower structure：Band
There is a machine human organism for being capable of autonomous of left driving wheel and right driving wheel, body is equipped with human-computer interaction interface, on body
Equipped with obstacle detection unit.Internal body is provided with inertial sensor, and the inertial sensor includes accelerometer and gyroscope
Deng being designed with detecting the odometer of the travel distance of driving wheel on two driving wheels（Usually code-disc）, being additionally provided with can
The parameter of related sensor is handled, and the control module of execution unit can be output a control signal to and can be led to the external world
The communication module of letter.
Include as shown in Figure 1, robot of the present invention hides system：For housing the accommodating chamber of the robot
23, for blocking the opening of the accommodating chamber, and the accommodating chamber is made to become to house the concealed space of the robot
Dodge gate 20, for the communicator 22 to communicate with the robot and for being received according to the communicator 22
The signal that sends of the robot, control the controllers 21 of the opening and closing of dodge gate 20, the controller 21 with it is described
Communicator 22 connects.Wherein, the accommodating chamber is arranged on some fixed interior of articles, can be in fixed interior of articles
It directly hollows out to form accommodating chamber or the housing of formation accommodating chamber is embedded in fixed interior of articles, can not so account for
With external public place space.The shape of accommodating chamber can accordingly be set according to the shape of robot, it is ensured that machine
People can be completely into the accommodating chamber 23.The dodge gate 20 includes door-plate and drives the motor of the door-plate activity, electricity
It is connected between machine and door-plate by gear.The controller sends control signal to motor, motor according to the signal received into
Row rotate forward either backwards rotation so as to drive door-plate open or close.When the dodge gate is closed, dodge gate and shape
Inner wall into accommodating chamber surrounds an enclosure space jointly, this enclosure space be exactly for housing the concealed space of robot,
Robot is made to be not exposed to outside public place.When the dodge gate is opened, robot can be from the concealed space
Walking comes out, and works.The position of the dodge gate is found by camera or laser sensor for the ease of robot,
Can be set on door-plate with specific identifier pattern either structure when robot camera or laser sensor detect
During to the pattern or structure, it is possible to rapidly and accurately determine the position of accommodating chamber.Communicator and controller can be set
In the fixed interior of articles where accommodating chamber, can also be arranged in a dedicated control centre or control room.If
The fixed interior of articles being all disposed within where accommodating chamber can then form a small independent control system, this is small
The communicator of independent control system waits sensors to carry out zigbee or infrared with robot using zigbee is either infrared
Etc. wireless communications, controller then use built-in pre-set programs control chip, the robot received by analyzing communicator
The signal sent outputs a control signal to the different execution unit such as the motor of dodge gate accordingly, to realize different control
Operation.If communicator and controller are arranged in a dedicated control centre or control room, one can be used as
Big control system.The communicator of this big control system uses 3G, 4G or wifi module, is then used with robot
The communications such as 3G, 4G or wifi carry out telecommunication, can receive the signal that multiple robots are sent simultaneously.And
For the signal that different machines human hair goes out, different control signals is exported extremely by control centre or the indoor controller of control
Corresponding dodge gate or other execution units, to realize that the difference to multiple targets controls.This controller, which may be employed, to be had
The devices such as the CPU or MCU of higher data processing capacity.In addition, the hiding system further includes so that each component obtains in system
With the power module of normal work, which could be provided as the power circuit with battery, may be set to be connection
The power circuit of alternating current.Robot of the present invention hides system, a kind of hidden including accommodating chamber and dodge gate by setting
Tibetan system makes robot that can automatically return to and be made of accommodating chamber and dodge gate after needs charge or complete task
Concealed space in, criminal is avoided to steal or destroy robot.Meanwhile professional is not required to go back to robot
It receives and disposes, reduce the manpower management cost of robot.
The charging part being connected with the controller is equipped with as one of which embodiment, in the accommodating chamber, passes through institute
Stating controller can control the charging part to charge the robot into the accommodating chamber.The charging part includes and electricity
The charging circuit module of source module connection and the charging electrode contact jaw being arranged on the inner wall to form the accommodating chamber.It is described to fill
Electric circuit module is connected with the controller, when the controller controls the charging circuit module conducting, charging electrode contact
End can generate charging voltage, and when the controller controls the charging circuit module disconnection, charging electrode contact jaw will not generate
Charging voltage.The body of the robot is equipped with the charging end that can be correspondingly connected with the charging electrode contact jaw, works as institute
It states robot and enters accommodating chamber, and when its charging end is connected with the charging electrode contact jaw, controller will control institute
Charging circuit module conducting is stated, the charging voltage that charging electrode contact jaw generates is charged by the charging end to robot.When
When the electricity of robot is full of or robot leaves charging electrode contact jaw, the controller controls the charging circuit module
It disconnects, stops charging to robot.In addition, the charging part may be set to be wireless charging module, pass through the control
Device processed can control the wireless charging module to carry out near radio charging to the robot into accommodating chamber, in this way, accommodating
There is no need to set charging electrode contact jaw in chamber, without setting charging end on the body of robot, in the body of robot
It is provided with corresponding wireless receiving charging module.System described in the present embodiment, can be in machine by setting charging part
It while people hides, charges to it, has achieved the effect that kill two birds with one stone, further improve the practicability of system.
As one of which embodiment, there are two the charging parts or more than two, respectively positioned at different height.
By setting multiple charging parts, it can charge simultaneously to multiple robots, for example be arranged on the counseling services machine in market
People and sweeping robot, general counseling services robot is all taller and bigger, and sweeping robot is then relatively short and small, such as
This, counseling services robot and sweeping robot can be hidden in simultaneously in an accommodating chamber, and sweeping robot is located at consulting and takes
The reserved empty position of business robot lower part.When they are charged simultaneously into accommodating chamber, two chargings different positioned at height
Portion then just can be carried out at the same time charging to them, and charge efficiency greatly improves.Meanwhile an accommodating chamber can hide simultaneously it is more
A robot, and can charge simultaneously to these robots, further improve the practicability of hiding system.
The sensor being connected with the controller, the biography are equipped with as one of which embodiment, in the accommodating chamber
Sensor enters the accommodating chamber for sending guiding signal with guided robot.Bluetooth, infrared, super may be employed in the sensor
One or several kinds of combinations in sound wave and laser.Due to the size of accommodating chamber be traditionally arranged to be it is big slightly larger than robot
It is small, so, robot, which will enter accommodating chamber, to be needed to carry out accurate contraposition.Particularly when charge docking, more
Need being accurately positioned between the charging end of robot and the charging electrode contact jaw of charging part.So the present embodiment by
Sensor for guided robot in system is set, accurately and effectively can enter accommodating chamber by guided robot, and realize and fill
Electric end and the accurate docking of charging electrode contact jaw.
As one of which embodiment, the system also includes the alarm devices being connected with the controller.The police
Reporting device is used to detect the state of the dodge gate, and when the state of the dodge gate meets alert consitions, sounds the alarm.
The alarm device includes detecting the infrared sensor of the on off state of dodge gate, for detecting the pressure suffered by dodge gate
The pressure sensor of power and the loudspeaker for playing alarm song.The infrared sensor is arranged on doorframe side, is lived by detecting
Distance change when dynamic door opens and closes, to judge that dodge gate is to be in closed state in opening state.Work as detection
It is not opened under the control of the controller to dodge gate, it is determined that dodge gate is illegally opened, and meets alert consitions, controls loudspeaker
Sound the alarm.The pressure sensor is arranged on the door-plate of dodge gate, for detecting the pressure size suffered by door-plate.
When the value that pressure sensor detects is more than certain value（The value can accordingly be set according to different design requirements）, then really
Determine door-plate and be subject to bigger external force collision, show there is criminal to attempt to destroy door-plate, meet alert consitions, control loudspeaker hair
Go out alarm song.System described in the present embodiment by setting alarm device, can detect the state of the dodge gate in real time, and
It can judge that whether destroyed either illegal open of dodge gate is destroyed in dodge gate or illegally opens according to testing result
When, additionally it is possible to alarm is carried out, so as to be warned to criminal, Security Personnel is reminded to come to check, is avoided in accommodating chamber
Robot it is stolen or destroy risk.
As one of which embodiment, the alarm device further includes the alarm portion being connected with the controller.It is described
Alarm portion is used for when the state of the dodge gate meets alert if, to default contact number alert.The report
Police portion uses 2G, 3G or 4G communication module, can be carried out wireless communication with outside.When the alarm device infrared sensor or
When person's pressure sensor detects the abnormality of dodge gate, controller judges whether the abnormality meets alert if,
If it is, the alarm portion is controlled to default contact number（Such as the telephone number of alarm call 110 or room security）Hair
Go out automatic speech alarming information.Wherein, the alert if can accordingly be set according to specific design requirement, such as red
Outer sensor detects that dodge gate is not to open 5 centimetres under the control of the controller or pressure sensor detects activity
The impact force that door is subject to reaches 20 newton, then meets alert if.System described in the present embodiment, can by setting alarm portion
Police or security personnel when dodge gate is subject to more serious destruction, to be notified to come to check in time, robot quilt is avoided
Criminal steals or destroys caused loss.
As one of which embodiment, the accommodating chamber is arranged in wall or in the pedestal of seat lower part.It is described
When dodge gate is closed, with the wall or the flush with outer surface of pedestal.System described in the present embodiment, passes through handle
Accommodating chamber is set in wall in public places or the pedestal 11 of the seat lower part of public chair 10（As shown in Figure 1）In, it can
To avoid the occupancy using space to public place.Meanwhile when being closed dodge gate with the wall or base
The flush with outer surface of seat can keep the integrality of the appearance of wall or pedestal, avoid influencing the whole vision of public place
Effect.
As one of which embodiment, the system also includes the human-computer interaction devices being connected with the controller.Institute
Human-computer interaction device is stated for receiving externally input information and being transferred to the controller, by described in controller control
Dodge gate or the robot.The human-computer interaction device is additionally operable to show the state of the dodge gate or robot.Institute
State human-computer interaction device can be a display control panel or a computer or it is other have input, display work(
The device or equipment of energy.By the human-computer interaction device can to controller send input signal, controller parsing described in
After input signal, then give the transmissions such as robot, dodge gate or charging module corresponding control instruction, to realize that administrative staff are led to
The effect of each execution unit can be controlled by crossing human-computer interaction device.The human-computer interaction device can be arranged on dodge gate,
On the wall on dodge gate periphery either the first-class position of the outer wall of pedestal facilitate administrative staff manipulate nearby side dodge gate or
Robot.The human-computer interaction device can also be arranged in control centre or control room, administrative staff in control centre or
It is unified in person's control room that all associated dodge gates or robot are controlled.For example, administrative staff are needed to market
The robot of interior Stall carries out inspection, then all dodge gates for inputting Stall to controller by the human-computer interaction device are opened
Information, after controller receives the information, send control signal to all dodge gates of Stall, make all dodge gates of Stall
In opening state, such administrative staff can carry out inspection quickly, without the opening of one dodge gate of a dodge gate, carry
The high work efficiency of inspection.In addition, current state can be also sent to the man-machine friendship by robot and dodge gate in real time
Mutual device, human-computer interaction device again come out these presentation of information, allow administrative staff in real time, intuitively view machine
People or the state of dodge gate, so as to further improve the efficiency of management.
As shown in Fig. 2, robot hidden method includes the following steps：Step S1：Determine the working condition of robot；Step
S2：Based on the working condition, judge whether robot meets the condition for returning to accommodating chamber, if it is, entering step S3, such as
Fruit is no, then return to step S1；Step S3：It determines the position of the accommodating chamber, and walks to the accommodating chamber, away from the receiving
When the distance of chamber is less than pre-determined distance, the control signal that control dodge gate is opened is sent；Step S4：Into the accommodating chamber, and
Send the control signal that the dodge gate is controlled to close.Due to robot at work, can in real time be examined based on the sensor of itself
Survey the working condition of itself, for example, remaining capacity also how many, walked how long distance, current angle of walking is how many etc..
When robot judges that relevant working condition meets the condition of return accommodating chamber（For example remaining capacity is insufficient or reaches default
Knocking-off time）When, then it finds and determines the position of accommodating chamber.And the position of accommodating chamber can be expert at by robot and be passed by
Map recorded in journey is determined, and can also be found and be determined by camera.It, can be with when being found by camera
Mark pattern is set in the outer surface of dodge gate, convenient for the lookup of robot.Further, it is also possible to by ultrasonic wave, infrared signal,
The position of accommodating chamber is found and determined to the modes such as laser signal or wherein several combinations.The accommodating chamber is determined in robot
It behind position, will walk towards the accommodating chamber, when robot goes to the distance away from the accommodating chamber less than pre-determined distance（This is pre-
If distance can be configured according to specific design requirement or use environment, could be provided as in the range of 1 to 3 meter）When, hair
The control signal for going out to control dodge gate to open.After the controller of the hiding system receives the control signal, send control and refer to
It makes to dodge gate, dodge gate is opened.Robot walks on into the accommodating chamber, at this point, robot can be by accommodating chamber
The guiding signal that the sensor of interior setting is sent, enter precisely intos accommodating chamber.This sensor may be employed infrared sensor,
One or several kinds of combination in ultrasonic sensor or laser sensor.Robot sends control after accommodating chamber is entered
The control signal that the dodge gate is closed after the controller receives the control signal, sends control instruction to dodge gate, living
Dynamic door is closed, and so as to fulfill hiding for robot, avoids easily being broken by criminal when robot exposure is extraneous in public places
The problem of bad and theft.
As one of which embodiment, described in step S2 based on the working condition, judge whether robot meets
The condition of accommodating chamber is returned, is included the following steps：Judge whether the remaining capacity of robot reaches default charge value.If so,
Then determine that robot meets the condition for returning to accommodating chamber.If it is not, then judging whether robot completes default task.If
It is, it is determined that robot meets the condition for returning to accommodating chamber.If it is not, then judging whether current time meets default return and hold
Receive time of chamber.If it is, determine that robot meets the condition for returning to accommodating chamber.If it is not, then determine that robot is unsatisfactory for
Return to the condition of accommodating chamber.Since robot is needed in the case of meeting certain condition, just need to return to accommodating chamber, otherwise need
It stays in and related work is carried out outside accommodating chamber.So robot is during the work time, by detecting the working condition of itself in real time
To determine whether meet the condition for returning to accommodating chamber.When robot detects that remaining capacity has reached default charge value（This is default
Charge value can be configured according to specific design requirement and use environment, generally could be provided as 1/10th of total electricity
To 1/8th this scopes）When or robot complete default task（The default task is also according to specific
Design requirement is accordingly set, for example sweeping robot completes whole cleanings on ground, and propaganda machine people completes leaflet
Provide etc.）When or robot detect current time meet it is default return accommodating chamber time（Default return accommodates
The time of chamber can accordingly be set as the case may be, for example, at night 10 points, at this time on square without who,
The propaganda machine people default time for returning to accommodating chamber can be set for 10 points at night）When, then it can determine that robot meets
Return to the condition of accommodating chamber.There is no sequencing relation between these described Rule of judgment, as long as any one judges item
Part meets, and robot can return to accommodating chamber.Method described in the present embodiment, by setting these Rule of judgment so that machine
Device people can independently judge when accommodating chamber can be returned, so as to improve the automation of robot and intelligence.
As one of which embodiment, the control signal that control dodge gate opens of sending described in the step S3 it
Afterwards, before the step S4, following steps are further included：Step S31：Receive guiding signal；Step S32：According to the guiding
Signal adjusts walking states, makes the charging end on machine human organism and the charging electrode contact jaw of the charging part in the accommodating chamber
Alignment.Since the size of accommodating chamber is traditionally arranged to be the size slightly larger than robot, so, robot, which will enter accommodating chamber, to be needed
Carry out accurate contraposition.Particularly when charge docking, with greater need for being accurately positioned between charging end.So
After controller receives the control signal that control dodge gate is opened, control instruction can be also sent to guiding sensor, passes guiding
Sensor sends guiding signal.Robot adjusts the walking states of itself according to the guiding signal, makes filling on machine human organism
Electric end is alignd with the charging electrode contact jaw of the charging part in the accommodating chamber, so as to accurate into implementation both ends after accommodating chamber
Charging docking.One or several kinds of groups in bluetooth, infrared, ultrasonic wave and laser may be employed in the guiding sensor
It closes.Method described in the present embodiment allows robot by the step accurately and effectively into accommodating chamber, and realize charging end
Accurate docking charge, so as to improve the charge efficiency of robot.
As one of which embodiment, after the step S4, following steps are further included：Step S5：Determine machine
The current state of people；Step S6：Based on the current state, judge whether robot meets the condition for leaving accommodating chamber, if
It is then to enter step S7, if it is not, then return to step S5；Step S7：Send control dodge gate open control signal, and from
Open the accommodating chamber.When being located at due to robot in accommodating chamber, typically just in order to hide or charge, when meeting certain condition
When, robot just needs to leave accommodating chamber, and work is gone to outside.At this point it is possible to the current state by detecting robot, to sentence
Whether disconnected robot meets the condition for leaving accommodating chamber.When robot judges that current state meets the item that robot leaves accommodating chamber
Part（For example it starts to work and has timed out or controller sends the control instruction of start-up operation）When, robot is sent out to controller
The control signal for going out to control dodge gate to open after controller receives the control signal, occurs control instruction to dodge gate, makes work
Dynamic door is opened.Then robot can leave accommodating chamber, carry out related work.The robot is automatic through this embodiment
The step of leaving accommodating chamber so that robot can automatically begin to work under conditions set, special messenger's management and control be not required, into one
Step reduces manpower management cost.
As one of which embodiment, described in step S6 based on the current state, judge whether robot meets
The condition of accommodating chamber is left, is included the following steps：Judge whether robot receives the control signal of start-up operation；If so,
Then determine that robot satisfaction leaves the condition of accommodating chamber；If it is not, then judging whether robot meets the condition to work on；Such as
Fruit is, it is determined that robot meets the condition for leaving accommodating chamber；If it is not, then determine that robot is unsatisfactory for leaving the item of accommodating chamber
Part.Since robot is needed in the case of meeting certain condition, accommodating chamber is just may exit off, otherwise needs to be hidden in accommodating chamber
In.So robot in accommodating chamber, also will leave receiving by detecting the current state of itself in real time to determine whether meeting
The condition of chamber.When robot receives the control signal of start-up operation（The control signal can be that the controller of system is sent
The signal that signal or robot are generated based on the detection data of itself, for example detect that electricity is filled with or reached
Cut-in time to setting etc.）When or judge that robot meets the condition to work on（The condition can be detected
The electricity being filled with has reached working on of can completing remaining work or receive that the controller of system sends
Signal）When, then it can determine that robot satisfaction leaves the condition of accommodating chamber.There is no successively between these described Rule of judgment
Ordinal relation, as long as any one Rule of judgment meets, robot can leave accommodating chamber.Method described in the present embodiment,
By setting these Rule of judgment so that robot can independently judge when may exit off accommodating chamber, so as to improve
The automation and intelligence of robot.
Obviously, the above embodiments are only part of the embodiment of the present invention, instead of all the embodiments, each implementation
Technical solution between example can be combined with each other.One of ordinary skill in the art will appreciate that：Realize above-mentioned each method embodiment
All or part of step can be completed by the relevant hardware of program instruction.These programs can be stored in computer-readable
Take storage medium（Such as the various media that can store program code such as ROM, RAM, magnetic disc or CD）In.The program is being held
During row, execution the step of including above-mentioned each method embodiment.Finally it should be noted that：Various embodiments above is only to illustrate this hair
Bright technical solution, rather than its limitations；Although the present invention is described in detail with reference to foregoing embodiments, this field
Those of ordinary skill should be understood：It can still modify to the technical solution recorded in foregoing embodiments or
Equivalent substitution is carried out to which part or all technical characteristic；And these modifications or replacement, do not make appropriate technical solution
Essence depart from various embodiments of the present invention technical solution scope.
Claims (12)
1. a kind of robot hides system, which is characterized in that including：
Accommodating chamber, for housing the robot；
Dodge gate for blocking the opening of the accommodating chamber, makes the accommodating chamber become to house hiding for the robot
Space；
Communicator, for communicating with the robot；
Controller is connected with the communicator, the letter that the robot for being received according to the communicator is sent
Number, control the opening and closing of dodge gate.
2. system according to claim 1, it is characterised in that：It is equipped in the accommodating chamber and is filled with what the controller was connected
Electric portion can control the charging part to charge the robot into the accommodating chamber by the controller.
3. system according to claim 1, which is characterized in that the use being connected with the controller is equipped in the accommodating chamber
In send guiding signal sensor, it is described guiding signal can guided robot enter the accommodating chamber.
4. system according to claim 1, which is characterized in that the system also includes：
Alarm device is connected with the controller, for detecting the state of the dodge gate, and in the state symbol of the dodge gate
When closing alert consitions, sound the alarm.
5. system according to claim 3, which is characterized in that the alarm device further includes：
Alarm portion is connected with the controller, for when the state of the dodge gate meets alert if, to default contact number
Code alert.
6. system according to claim 1, it is characterised in that：
The accommodating chamber is arranged in wall or in the pedestal of seat lower part；
When the dodge gate is closed, with the wall or the flush with outer surface of pedestal.
7. system according to any one of claim 1 to 6, it is characterised in that：The system also includes：
Human-computer interaction device is connected with the controller, for receiving externally input information and being transferred to the controller, is led to
It crosses the controller and controls the dodge gate or the robot；
The human-computer interaction device is additionally operable to show the state of the dodge gate or robot.
8. a kind of robot hidden method, which is characterized in that include the following steps：
Step S1：Determine the working condition of robot；
Step S2：Based on the working condition, judge whether robot meets the condition for returning to accommodating chamber, if it is, into
Step S3, if it is not, then return to step S1；
Step S3：It determines the position of the accommodating chamber, and walks to the accommodating chamber, be less than in the distance away from the accommodating chamber pre-
If apart from when, send control dodge gate open control signal；
Step S4：Into the accommodating chamber, and send the control signal that the dodge gate is controlled to close.
9. according to the method described in claim 8, it is characterized in that, described in step S2 based on the working condition, judge machine
Whether device people meets the condition for returning to accommodating chamber, includes the following steps：
Judge whether the remaining capacity of robot reaches default charge value；
If it is, determine that robot meets the condition for returning to accommodating chamber；
If it is not, then judging whether robot completes default task；
If it is, determine that robot meets the condition for returning to accommodating chamber；
If it is not, then judging whether current time meets the time of default return accommodating chamber；
If it is, determine that robot meets the condition for returning to accommodating chamber；
If it is not, then determine that robot is unsatisfactory for returning the condition of accommodating chamber.
10. method according to claim 8 or claim 9, which is characterized in that sending control dodge gate described in the step S3
After the control signal of opening, before the step S4, following steps are further included：
Step S31：Receive guiding signal；
Step S32：According to the guiding signal adjustment walking states, make in charging end and the accommodating chamber on machine human organism
Charging part charging electrode contact jaw alignment.
11. method according to claim 8 or claim 9, which is characterized in that after the step S4, further include following steps：
Step S5：Determine the current state of robot；
Step S6：Based on the current state, judge whether robot meets the condition for leaving accommodating chamber, if it is, into
Step S7, if it is not, then return to step S5；
Step S7：The control signal that control dodge gate is opened is sent, and leaves the accommodating chamber.
12. according to the method for claim 11, which is characterized in that described in step S6 based on the current state, judge
Whether robot meets the condition for leaving accommodating chamber, includes the following steps：
Judge whether robot receives the control signal of start-up operation；
If it is, determine that robot satisfaction leaves the condition of accommodating chamber；
If it is not, then judging whether robot meets the condition to work on；
If it is, determine that robot satisfaction leaves the condition of accommodating chamber；
If it is not, then determine that robot is unsatisfactory for leaving the condition of accommodating chamber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810123668.3A CN108115693A (en) | 2018-02-07 | 2018-02-07 | A kind of robot hides system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810123668.3A CN108115693A (en) | 2018-02-07 | 2018-02-07 | A kind of robot hides system and method |
Publications (1)
| Publication Number | Publication Date |
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| CN108115693A true CN108115693A (en) | 2018-06-05 |
Family
ID=62233605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810123668.3A Withdrawn CN108115693A (en) | 2018-02-07 | 2018-02-07 | A kind of robot hides system and method |
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| Country | Link |
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| CN (1) | CN108115693A (en) |
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| WO2021115390A1 (en) * | 2019-12-12 | 2021-06-17 | 苏州宝时得电动工具有限公司 | Base station for storing ground cleaning robot, and ground cleaning robot system |
| WO2022199119A1 (en) * | 2021-03-23 | 2022-09-29 | 深圳市银星智能科技股份有限公司 | Base station |
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Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: Room 105-514, No.6 Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
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Application publication date: 20180605 |